hpp::core::pathOptimization::PartialSplinePath Class Reference

Path for a robot partially defined by a cubic B-spline. More...

#include <hpp/core/path-optimization/partial-spline-path.hh>

Inheritance diagram for hpp::core::pathOptimization::PartialSplinePath:
Collaboration diagram for hpp::core::pathOptimization::PartialSplinePath:

Public Types

typedef Path parent_t
 

Public Member Functions

virtual std::ostream & print (std::ostream &os) const
 Print path in a stream. More...
 
- Public Member Functions inherited from hpp::core::Path
Configuration_t operator() (const value_type &t) const throw ()
 
Configuration_t operator() (const value_type &t, bool &success) const throw ()
 
bool operator() (ConfigurationOut_t result, const value_type &t) const throw ()
 
size_type outputSize () const
 Get size of configuration space. More...
 
size_type outputDerivativeSize () const
 Get size of velocity. More...
 
const interval_ttimeRange () const
 Get interval of definition. More...
 
value_type length () const
 Get length of definition interval. More...
 
virtual Configuration_t initial () const =0
 Get the initial configuration. More...
 
virtual Configuration_t end () const =0
 Get the final configuration. More...
 
virtual ~Path () throw ()
 Destructor. More...
 
template<class T >
boost::shared_ptr< T > as (void)
 Static cast into a derived type. More...
 
template<class T >
boost::shared_ptr< const T > as (void) const
 Static cast into a derived type. More...
 
virtual PathPtr_t extract (const interval_t &subInterval) const
 Extraction/Reversion of a sub-path. More...
 
virtual PathPtr_t reverse () const
 Reversion of a path. More...
 
const ConstraintSetPtr_tconstraints () const
 Get constraints the path is subject to. More...
 
void constraints (const ConstraintSetPtr_t &constraints)
 Set constraints the path is subject to. More...
 

Protected Member Functions

 PartialSplinePath (const DevicePtr_t &robot, const PathPtr_t &path, const JointVector_t &joints, const std::vector< value_type > &knots)
 Constructor. More...
 
 PartialSplinePath (const PartialSplinePathPtr_t &path)
 Copy constructor. More...
 
void init (PartialSplinePathPtr_t self)
 
virtual void impl_compute (ConfigurationOut_t result, value_type t) const
 Function evaluation. More...
 
- Protected Member Functions inherited from hpp::core::Path
 Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
 Constructor. More...
 
 Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
 Constructor. More...
 
 Path (const Path &path)
 Copy constructor. More...
 
void init (const PathPtr_t &self)
 Store weak pointer to itself. More...
 

Construction, destruction, copy

static PartialSplinePathPtr_t create (const PathPtr_t &path, const JointVector_t &joints, const std::vector< value_type > &knots)
 Create instance and return shared pointer. More...
 
static PartialSplinePathPtr_t create (const roboptim::trajectory::CubicBSpline &spline)
 Create instance from a CubicBSpline and return a shared pointer. More...
 
virtual PathPtr_t copy () const
 Return a shared pointer to a copy of this. More...
 
virtual ~PartialSplinePath () throw ()
 Destructor. More...
 

Additional Inherited Members

- Protected Attributes inherited from hpp::core::Path
interval_t timeRange_
 Interval of definition. More...
 

Detailed Description

Path for a robot partially defined by a cubic B-spline.

Some configuration variables specified at construction are defined by an internal cubic B-spline while the other configuration variables are defined by a path given at construction.

This enables users to perform numerical optimization on some joints only, keeping the trajectory of other joints constant.

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~PartialSplinePath()

virtual hpp::core::pathOptimization::PartialSplinePath::~PartialSplinePath ( )
throw (
)
inlinevirtual

Destructor.

◆ PartialSplinePath() [1/2]

hpp::core::pathOptimization::PartialSplinePath::PartialSplinePath ( const DevicePtr_t robot,
const PathPtr_t path,
const JointVector_t joints,
const std::vector< value_type > &  knots 
)
protected

Constructor.

◆ PartialSplinePath() [2/2]

hpp::core::pathOptimization::PartialSplinePath::PartialSplinePath ( const PartialSplinePathPtr_t &  path)
protected

Copy constructor.

Member Function Documentation

◆ copy()

virtual PathPtr_t hpp::core::pathOptimization::PartialSplinePath::copy ( ) const
inlinevirtual

Return a shared pointer to a copy of this.

Implements hpp::core::Path.

◆ create() [1/2]

static PartialSplinePathPtr_t hpp::core::pathOptimization::PartialSplinePath::create ( const PathPtr_t path,
const JointVector_t joints,
const std::vector< value_type > &  knots 
)
inlinestatic

Create instance and return shared pointer.

References init().

◆ create() [2/2]

static PartialSplinePathPtr_t hpp::core::pathOptimization::PartialSplinePath::create ( const roboptim::trajectory::CubicBSpline &  spline)
inlinestatic

Create instance from a CubicBSpline and return a shared pointer.

References init().

◆ impl_compute()

virtual void hpp::core::pathOptimization::PartialSplinePath::impl_compute ( ConfigurationOut_t  configuration,
value_type  t 
) const
protectedvirtual

Function evaluation.

Returns
true if everything went good.

Implements hpp::core::Path.

◆ init()

void hpp::core::pathOptimization::PartialSplinePath::init ( PartialSplinePathPtr_t  self)
inlineprotected

References init().

Referenced by create(), and init().

◆ print()

virtual std::ostream& hpp::core::pathOptimization::PartialSplinePath::print ( std::ostream &  os) const
inlinevirtual

Print path in a stream.

Implements hpp::core::Path.